/***************************************************************************
 *   Copyright (c) 2008 Jürgen Riegel (juergen.riegel@web.de)              *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/


#include "PreCompiled.h"
#ifndef _PreComp_
# include <Python.h>
#endif

#include <Base/Console.h>
#include <Base/VectorPy.h>

#include "TrajectoryPy.h"
#include "Robot6AxisPy.h"
#include "Simulation.h"

#include "RobotAlgos.h"

using namespace Robot;

static PyObject * 
simulateToFile(PyObject *self, PyObject *args)
{
    PyObject *pcRobObj;
    PyObject *pcTracObj;
    float tick;
    char* FileName;

	if (!PyArg_ParseTuple(args, "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj,
                                          &(TrajectoryPy::Type), &pcTracObj,
                                          &tick,&FileName
                                          )  )  
        return NULL;                             // NULL triggers exception

    PY_TRY {
        Robot::Trajectory &Trac = * static_cast<TrajectoryPy*>(pcTracObj)->getTrajectoryPtr();
        Robot::Robot6Axis &Rob  = * static_cast<Robot6AxisPy*>(pcRobObj)->getRobot6AxisPtr();
		Simulation Sim(Trac,Rob);


		
    } PY_CATCH;

	return Py::new_reference_to(Py::Float(0.0));

}


/* registration table  */
struct PyMethodDef Robot_methods[] = {
   {"simulateToFile"       ,simulateToFile      ,METH_VARARGS,
     "void simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file."},
    {NULL, NULL}        /* end of table marker */
};
